Photovoltaic panel carrying manipulator and photovoltaic panel carrying equipment

Abstract

The utility model relates to a photovoltaic panel carrying manipulator and photovoltaic panel carrying equipment. The photovoltaic panel carrying manipulator comprises a rack assembly, a clamping jaw assembly and a suction cup assembly, and a synchronizing mechanism is arranged on the rack assembly; the clamping jaw assembly is arranged on the machine frame assembly and comprises a first clamping jaw mechanism and a second clamping jaw mechanism, and the first clamping jaw mechanism and the second clamping jaw mechanism are located at the two ends of the machine frame assembly respectively and jointly connected with the synchronizing mechanism so as to be synchronously close to or away from each other in the opposite direction. The suction cup assembly is arranged on the rack assembly in a lifting mode and located between the first clamping jaw mechanism and the second clamping jaw mechanism. The synchronous mechanism is arranged on the rack assembly, it can be guaranteed that the clamping position is accurate, photovoltaic panels cannot be deviated, the clamping jaw assembly and the suction cup assembly are effectively combined together, the functions of the mechanical arm are enriched, and the photovoltaic panel production efficiency on an assembly line can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic panel production, in particular to a photovoltaic panel carrying manipulator and photovoltaic panel carrying equipment. BACKGROUND

[0002] In the existing photovoltaic product manufacturing process, the transmission mode used for the position transfer of photovoltaic panels is generally a belt transmission, for example, a conveying belt for conveying solar photovoltaic panels is disclosed in Chinese patent CN202310572915.9. However, for the accurate transfer of photovoltaic panels between different devices, a manipulator is more suitable for operation than a conveying belt. However, the conventional manipulator has the problem of unbalanced movement of the clamping jaw, which easily causes displacement of the photovoltaic panel product during clamping, affects the carrying precision, or causes damage to the photovoltaic panel. In addition, the conventional manipulator has a single function, which is also not conducive to improving the production efficiency of photovoltaic panels. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a photovoltaic panel carrying manipulator and photovoltaic panel carrying equipment to solve the problem of damage to photovoltaic panels caused by unbalanced movement of the clamping jaw of the carrying manipulator in the prior art, and the problem of low production efficiency caused by the single function of the carrying manipulator.

[0004] According to the photovoltaic panel carrying manipulator provided by the present application, the photovoltaic panel carrying manipulator comprises:

[0005] A rack assembly is provided with a synchronous mechanism;

[0006] A clamping jaw assembly is arranged on the rack assembly and comprises a first clamping jaw mechanism and a second clamping jaw mechanism. The first clamping jaw mechanism and the second clamping jaw mechanism are respectively located at two ends of the rack assembly and are connected to the synchronous mechanism to move synchronously towards or away from each other.

[0007] A suction cup assembly is arranged on the rack assembly in a liftable manner and is located between the first clamping jaw mechanism and the second clamping jaw mechanism.

[0008] In some embodiments, the rack assembly is provided with a linear guide rail, and the first clamping jaw mechanism and the second clamping jaw mechanism are slidably installed on the rack assembly through the linear guide rail. The synchronous mechanism comprises a synchronous wheel and a synchronous belt. The synchronous wheel is rotatably installed on the rack assembly, the synchronous belt is sleeved on the synchronous wheel, and the first clamping jaw mechanism and the second clamping jaw mechanism are respectively connected to the synchronous belt on both sides of the synchronous wheel.

[0009] In some embodiments, the linear guide rail and the synchronous mechanism are arranged in two symmetrical groups on the rack assembly, and the two groups of linear guide rails and synchronous mechanisms are connected to the first clamping jaw mechanism and the second clamping jaw mechanism.

[0010] In some embodiments, the first and second clamping jaw mechanisms are identical in structure, each comprising a connecting plate, a connecting arm and a clamping plate; the connecting plate is slidingly mounted on the rack assembly, the upper end of the connecting arm is connected to the connecting plate, and the lower end of the connecting arm is connected to the clamping plate; the clamping jaw assembly further comprises a driving mechanism, which is connected to one of the clamping jaw mechanisms to drive the clamping jaw mechanism to reciprocate.

[0011] In some embodiments, the driving mechanism comprises a driving cylinder and a connecting piece; two driving cylinders are fixedly installed on the rack assembly, and the piston rods of the driving cylinders are symmetrically connected to the two ends of the same clamping jaw mechanism through the connecting piece.

[0012] In some embodiments, the clamping plates of the first and second clamping jaw mechanisms are provided with symmetrical sensor grooves, and the sensor grooves are provided with a pair of photoelectric sensors.

[0013] In some embodiments, the rack assembly is provided with a lifting support, and the inner side of the lifting support is provided with a vertical guide rail and a lifting cylinder; the suction cup assembly comprises a suction cup frame, which is sleeved in the lifting support and connected to the vertical guide rail and the lifting cylinder, and the lifting cylinder drives the suction cup frame to reciprocate along the vertical guide rail.

[0014] In some embodiments, the suction cup frame is provided below with a mounting plate, the mounting plate is provided with a mounting strip, and the mounting strip is provided with a suction cup group composed of multiple suction cups.

[0015] In some embodiments, the mounting plate and the mounting strip are profile structures with T-shaped grooves, and the mounting plate and the mounting strip are fastened through rotatable T-shaped bolts, and the T-shaped heads of the T-shaped bolts extend into the T-shaped grooves.

[0016] According to another aspect of the present application, a photovoltaic panel handling device is provided, comprising a transfer device and a photovoltaic panel handling manipulator as above, and the photovoltaic panel handling manipulator is installed on the transfer device.

[0017] The photovoltaic panel carrying mechanical hand of the technical scheme of the present application comprises: a rack assembly, a clamping jaw assembly and a suction cup assembly, the rack assembly is provided with a synchronous mechanism; the clamping jaw assembly is arranged on the rack assembly and comprises a first clamping jaw mechanism and a second clamping jaw mechanism, the first clamping jaw mechanism and the second clamping jaw mechanism are respectively located at two ends of the rack assembly, and the two are connected to the synchronous mechanism to be synchronously close to or away from each other; the suction cup assembly is arranged on the rack assembly in a liftable manner and is located between the first clamping jaw mechanism and the second clamping jaw mechanism. The synchronous mechanism is arranged on the rack assembly, and the two clamping jaw mechanisms are connected to the synchronous mechanism to be synchronously close to or away from each other, so that the clamping position can be ensured to be accurate and the photovoltaic panel cannot be deviated; in addition, the suction cup assembly is further arranged on the rack assembly, the suction cup assembly can move up and down, and a single photovoltaic panel can be sucked and boxed, so that the sucking and boxing structure and the whole-box carrying structure of the photovoltaic panel are combined together in the present application, the function of the mechanical hand is enriched, and the production efficiency of the photovoltaic panel on the assembly line can be significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings incorporated into the specification and forming a part thereof show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 The overall structure schematic diagram of the photovoltaic panel carrying mechanical hand of the embodiment of the present application is shown;

[0021] Figure 2 The rack assembly and clamping jaw assembly structure schematic diagram of the photovoltaic panel carrying mechanical hand of the embodiment of the present application is shown;

[0022] Figure 3 The rack assembly lifting structure schematic diagram of the photovoltaic panel carrying mechanical hand of the embodiment of the present application is shown;

[0023] Figure 4 The suction cup assembly structure schematic diagram of the photovoltaic panel carrying mechanical hand of the embodiment of the present application is shown;

[0024] Among them, the above drawings include the following reference signs:

[0025] 1, rack assembly; 11, synchronous mechanism; 111, synchronous wheel; 112, synchronous belt; 12, linear guide rail; 13, lifting support; 14, vertical guide rail; 15, lifting cylinder; 16, support plate; 2, clamping jaw assembly; 21, first clamping jaw mechanism; 22, second clamping jaw mechanism; 221, connecting plate; 222, connecting arm; 223, clamping plate; 23, driving cylinder; 24, light barrier photoelectric sensor; 3, suction cup assembly; 31, suction cup frame; 32, mounting plate; 33, mounting strip; 34, suction cup group; 35, T-shaped bolt. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0028] For ease of description, spatial relative terms such as "over", "above", "upper surface", "upper", etc. can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned at 90 degrees or in other orientations in other different ways, and the spatial relative descriptions used herein are interpreted accordingly.

[0029] It should be noted that the terms used herein are only for the purpose of describing the specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0030] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular chronological or sequential order. It should be understood that the data thus used can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in other than the order illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units as processes, methods, systems, products, or apparatuses do not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to such processes, methods, systems, products, or apparatuses.

[0031] Figures 1 to 4 An embodiment of the photovoltaic panel handling robot of the present application is schematically shown.

[0032] As Figures 1 to 4 shown, the present application discloses a photovoltaic panel handling robot, comprising: a rack assembly 1, a synchronous mechanism 11 is arranged on the rack assembly 1; a gripper assembly 2 is arranged on the rack assembly 1, comprising a first gripper mechanism 21 and a second gripper mechanism 22, the first gripper mechanism 21 and the second gripper mechanism 22 are respectively located at both ends of the rack assembly 1, and the two are connected to the synchronous mechanism 11 to be able to synchronously approach or move away from each other; and a suction cup assembly 3 is arranged on the rack assembly 1 and located between the first gripper mechanism 21 and the second gripper mechanism 22.

[0033] Through the above structure design, the synchronous mechanism 11 is arranged on the rack assembly 1 of the embodiment of the present application, so that the two groups of gripper mechanisms are connected to the synchronous mechanism 11 to be able to synchronously approach or move away from each other, so as to ensure that the clamping position is centered and accurate, and the photovoltaic panel will not be offset due to different movements. Moreover, the suction cup assembly 3 is also arranged on the rack assembly 1 of the present application, and the suction cup assembly 3 can be lifted and moved to be able to suck and pack a single photovoltaic panel. Thus, the suction and packing structure of the photovoltaic panel and the whole-box handling structure are effectively combined together in the present application, which enriches the function of the robot and can significantly improve the production and packaging efficiency of the photovoltaic panel on the assembly line.

[0034] In some embodiments of the present application, as Figure 1 and 2As shown, the rack assembly 1 is provided with a linear guide rail 12. The first jaw mechanism 21 and the second jaw mechanism 22 are slidably installed on the rack assembly 1 through the linear guide rail 12, and thus can slide relative to each other along a straight line. The synchronous mechanism 11 on the rack assembly 1 includes a synchronous wheel 111 and a synchronous belt 112. The synchronous wheel 111 is rotatably installed on the rack assembly 1, and the synchronous belt 112 is sleeved on the synchronous wheel 111 and moves with the synchronous wheel 111. The first jaw mechanism 21 and the second jaw mechanism 22 are respectively connected with the synchronous belt 112 on both sides of the synchronous wheel 111. For example, in the embodiment of the present application, the first jaw mechanism 21 is connected with the synchronous belt 112 on the upper side of the synchronous wheel 111, and the second jaw mechanism 22 is connected with the synchronous belt 112 on the lower side of the synchronous wheel 111. Thus, the first jaw mechanism 21 and the second jaw mechanism 22 can be synchronously operated by the transmission and restraint of the synchronous belt 112, and move the same distance to approach or move away from each other, so that the clamping position of the manipulator of the embodiment of the present application can be accurately centered each time, the positioning accuracy of the clamping action is ensured, and the clamping reliability is maintained.

[0035] In some embodiments of the present application, as shown in Figure 1 and Figure 2 The linear guide rail 12 and the synchronous mechanism 11 are provided with two symmetrical groups on the rack assembly 1, and the two groups of linear guide rails 12 and synchronous mechanisms 11 are connected with the first jaw mechanism 21 and the second jaw mechanism 22, so as to ensure the force balance of the jaw mechanism, the straightness of relative motion is high, and the inclination and shaking are not easy to occur, and the clamping performance reliability of the manipulator is improved. Among them, the linear guide rail 12 can be a ball linear guide rail 12, which has high lubricity and small sliding resistance, and can easily achieve μm level positioning accuracy to ensure the accurate and efficient clamping action of the jaw mechanism.

[0036] In some embodiments of the present application, as shown in Figure 1 and Figure 2 The first jaw mechanism 21 and the second jaw mechanism 22 are the same structure, and the second jaw mechanism 22 is taken as an example (see Figure 2 ), which includes a connecting plate 221, a connecting arm 222 and a clamping plate 223. The connecting plate 221 is slidably installed on the rack assembly 1, see Figure 2As shown, the connecting plate 221 is installed on the linear guide rail 12 to achieve sliding arrangement, at the same time, the connecting plate 221 is also connected to the fixed position of the synchronous belt 112 through the pressing plate structure, and keeps synchronous movement with the synchronous belt 112, so as to realize the synchronous centering and clamping of the two groups of clamping jaw mechanisms. Among them, the connecting plate 221 of the second clamping jaw mechanism 22 is connected to the lower side of the synchronous belt 112, and correspondingly, the connecting plate of the first clamping jaw mechanism 21 is connected to the upper side of the synchronous belt 112. The upper end of the connecting arm 222 is connected to the connecting plate 221, and the lower end of the connecting arm 222 is connected with the clamping plate 223, which is used to realize the opposite clamping. In the embodiment of the present application, the clamping plate 223 includes a hard bottom plate and a non-slip soft pad on the surface, so as to ensure the clamping force while improving the friction and impact buffering force, thereby protecting the photovoltaic panel product.

[0037] In some embodiments of the present application, the clamping jaw assembly 2 further comprises a driving mechanism connected to one of the clamping jaw mechanisms to drive the clamping jaw mechanism to reciprocate. In the embodiment of the present application, the driving mechanism drives one of the clamping jaw mechanisms to move, and then drives the other clamping jaw mechanism to move synchronously by means of the synchronous belt 112, so as to realize the opposite clamping and release control of the two clamping jaw mechanisms.

[0038] In some embodiments of the present application, as shown in Figure 1 and Figure 2 The driving mechanism comprises a driving cylinder 23 and a connecting piece, and the piston rod of the driving cylinder 23 is connected to the clamping jaw mechanism through the connecting piece to drive the clamping jaw mechanism to slide. In the embodiment of the present application, two driving cylinders 23 are provided and fixedly installed on the rack assembly 1, and the piston rods of the driving cylinders 23 are symmetrically connected to the two ends of the same clamping jaw mechanism through the connecting piece. In the embodiment of the present application, as shown in Figure 1 and Figure 2 The two driving cylinders 23 are connected to the first clamping jaw mechanism 21 and symmetrically arranged, so as to ensure that the two ends of the first clamping jaw mechanism 21 are balanced in force and improve the straightness stability of sliding. The second clamping jaw mechanism 22 is not provided with a driving cylinder 23, but is driven to slide by the synchronous belt 112. This design can avoid the pulling caused by the different directions of the driving cylinders 23 due to the different synchronization of the driving cylinders 23, avoid the driving force consumption and reduce the probability of cylinder damage, and prolong the service life of the mechanical hand.

[0039] In some embodiments of the present application, as shown in Figure 2 The clamping plates of the first clamping jaw mechanism 21 and the second clamping jaw mechanism 22 are provided with symmetrical sensor grooves, and the sensor grooves are provided with a pair of light-sensing photoelectric sensors 24. The light-sensing photoelectric sensor 24 can be used to detect whether there is a photovoltaic panel product clamped between the two clamping plates, so as to find the clamping failure in time and improve the reliability of the mechanical hand work.

[0040] In some embodiments of the present application, as shown in Figure 1 andFigure 3 As shown in the drawings, the rack assembly 1 is provided with a lifting support 13, which is a frame structure, and the inner side of the lifting support 13 is provided with a vertical guide rail 14 and a lifting cylinder 15. Correspondingly, the suction cup assembly 3 includes a suction cup frame 31, which is sleeved in the lifting support 13 and connected with the vertical guide rail 14 and the lifting cylinder 15. The suction cup frame 31 can be driven to reciprocatingly move up and down along the vertical guide rail 14 by the lifting cylinder 15, so as to realize the lifting movement of the suction cup assembly 3. The suction cup assembly 3 of the embodiment of the present application can be installed on the rack assembly 1 and located between the two jaw mechanisms, so that a single photovoltaic panel can be adsorbed and boxed. When the photovoltaic panel is boxed, the jaw assembly 2 can be driven to make the first jaw mechanism 21 and the second jaw mechanism 22 synchronously close, so as to carry the box filled with photovoltaic panels to a packaging position for packaging and sealing.

[0041] In some embodiments of the present application, as shown in Figure 2 and Figure 3 The lifting support 13 is provided with two groups of lifting cylinders 15 symmetrically, and the two groups of lifting cylinders 15 are connected by a support plate 16. The two groups of lifting cylinders 15 synchronously drive the support plate 16 to move up and down from both sides. The middle position of the support plate 16 is connected with the suction cup frame 31, so as to drive the suction cup frame 31 to move up and down in a more stable manner, improve the stability of adsorbing and carrying the photovoltaic panel, avoid the photovoltaic panel from falling due to shaking, and improve the carrying safety.

[0042] In some embodiments of the present application, as shown in Figure 4 The lower side of the suction cup frame 31 is provided with a mounting plate 32, the mounting plate 32 is provided with a mounting strip 33, and the mounting strip 33 is provided with a suction cup group 34 composed of multiple suction cups. The suction cup group 34 composed of multiple suction cups can realize the horizontal stable adsorption of the photovoltaic panel, and the lifting movement of the suction cup frame 31 can realize the carrying and boxing of the photovoltaic panel. In the embodiment of the present application, as shown in Figure 1 and Figure 4 The suction cup group 34 includes eight suction cups, which are evenly arranged in two rows to ensure that the adsorption force is evenly distributed and the photovoltaic panel is reliably adsorbed.

[0043] In some embodiments of the present application, as shown in Figure 4 The mounting plate 32 and the mounting strip 33 are profile structures, which are provided with T-shaped grooves. The mounting plate 32 and the mounting strip 33 are fastened by rotatable T-shaped bolts 35, and the T-shaped heads of the T-shaped bolts 35 extend into the T-shaped grooves. When it is necessary to adjust the position and distribution of the suction cup group 34 to match the shape of the photovoltaic panel, the T-shaped bolts 35 can be loosened, and the horizontal position adjustment of each suction cup group can be quickly realized by sliding the T-shaped bolts 35 in the T-shaped grooves, so that the mechanical hand of the present application is flexible and convenient to use.

[0044] The application also discloses a photovoltaic panel carrying device, which comprises a transfer device and the photovoltaic panel carrying manipulator of each of the above embodiments, the photovoltaic panel carrying manipulator is installed on the transfer device and moves with the transfer device to realize the carrying and transfer of the photovoltaic panel or the photovoltaic panel box. The transfer device can be a horizontal and vertical moving mechanical arm, such as a three-axis, six-axis or nine-axis mechanical arm, or a transfer vehicle body which realizes the carrying and transfer of products through wheel driving.

[0045] In summary, the photovoltaic panel carrying manipulator of the embodiment of the application comprises a rack assembly, a clamping jaw assembly and a suction cup assembly, the rack assembly is provided with a synchronous mechanism; the clamping jaw assembly is arranged on the rack assembly and comprises a first clamping jaw mechanism and a second clamping jaw mechanism, the first clamping jaw mechanism and the second clamping jaw mechanism are respectively located at two ends of the rack assembly, and the two clamping jaw mechanisms are connected with the synchronous mechanism to be synchronously close to or away from each other; the suction cup assembly is arranged on the rack assembly in a liftable manner and is located between the first clamping jaw mechanism and the second clamping jaw mechanism. The synchronous mechanism is arranged on the rack assembly, the two clamping jaw mechanisms are connected with the synchronous mechanism to be synchronously close to or away from each other, the clamping position can be ensured to be accurate, and the photovoltaic panel cannot be deviated; in addition, the suction cup assembly is arranged on the rack assembly, the suction cup assembly can move up and down, and a single photovoltaic panel can be sucked and boxed, so that the sucking and boxing structure and the whole-box carrying structure of the photovoltaic panel are combined together in the application, the function of the manipulator is enriched, and the production efficiency of the photovoltaic panel on the assembly line can be significantly improved.

[0046] The above only provides the preferred embodiments of the application and is not used to limit the application. The application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A photovoltaic panel handling robot, characterized in that, The utility model relates to a kind of synchronous clamping device, including: Rack assembly (1), synchronous mechanism (11) is provided on the rack assembly (1); Clamping jaw assembly (2), the clamping jaw assembly (2) is provided on the rack assembly (1), including first clamping jaw mechanism (21) and second clamping jaw mechanism (22), the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22) are located at the two ends of the rack assembly (1) respectively, and synchronously approach or away from each other in common connection synchronous mechanism (11); Suction cup assembly (3), the suction cup assembly (3) is liftable and provided on the rack assembly (1), and is located between the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22).

2. The photovoltaic panel handling robot of claim 1, wherein, The rack assembly (1) is provided with linear guide (12), the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22) are slidably installed on the rack assembly (1) by the linear guide (12);Synchronous mechanism (11) includes: synchronous wheel (111) and synchronous belt (112), the synchronous wheel (111) is rotatably installed on the rack assembly (1), the synchronous belt (112) is sleeved in the synchronous wheel (111), and the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22) are connected with the synchronous belt (112) on the two sides of the synchronous wheel (111) respectively.

3. The photovoltaic panel handling robot of claim 2, wherein, The linear guide (12) and the synchronous mechanism (11) are provided with two groups of symmetry on the rack assembly (1), and two groups of the linear guide (12) and the synchronous mechanism (11) are connected with the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22).

4. The photovoltaic panel handling robot of claim 1, wherein, The first clamping jaw mechanism (21) and the second clamping jaw mechanism (22) are same in structure, and all include: connecting plate (221), connecting arm (222) and clamping plate (223);The connecting plate (221) is slidably installed on the rack assembly (1), the upper end of the connecting arm (222) is connected with the connecting plate (221), and the lower end of the connecting arm (222) is connected with the clamping plate (223);The clamping jaw assembly (2) further includes drive mechanism, and the drive mechanism is connected with one of the clamping jaw mechanism, and drives the reciprocating movement of the clamping jaw mechanism.

5. The photovoltaic panel handling robot of claim 4, wherein, The drive mechanism includes drive cylinder (23) and connecting piece;Two drive cylinders (23) are provided, fixedly installed on the rack assembly (1), and the piston rod of the drive cylinder (23) is connected to the two ends of the same clamping jaw mechanism by the connecting piece.

6. The photovoltaic panel handling robot of claim 4, wherein, Symmetrical sensor groove is provided on the clamping plate of the first clamping jaw mechanism (21) and the second clamping jaw mechanism (22), and the opposite light sensor (24) is arranged in the sensor groove.

7. The photovoltaic panel handling robot of claim 1, wherein, The rack assembly (1) is provided with a lifting support (13), the inner side of the lifting support (13) is provided with a vertical guide rail (14) and a lifting cylinder (15); the suction disc assembly (3) comprises a suction disc frame (31), the suction disc frame (31) is sleeved in the lifting support (13) and is connected with the vertical guide rail (14) and the lifting cylinder (15), the lifting cylinder (15) drives the suction disc frame (31) to reciprocatingly move up and down along the vertical guide rail (14).

8. The photovoltaic panel handling robot of claim 7, wherein, A mounting plate (32) is arranged below the suction disc frame (31), the mounting plate (32) is provided with a mounting strip (33), and a suction disc group (34) composed of multiple suction discs is arranged on the mounting strip (33).

9. The photovoltaic panel handling robot of claim 8, wherein, The mounting plate (32) and the mounting strip (33) are profile structures, and T-shaped grooves are arranged on the mounting plate (32) and the mounting strip (33); the mounting plate (32) and the mounting strip (33) are fastened through rotatable T-shaped bolts (35), and the T-shaped heads of the T-shaped bolts (35) are inserted into the T-shaped grooves.

10. Photovoltaic panel handling apparatus, characterized in that, Comprising: A transfer device and a photovoltaic panel handling robot as claimed in any of claims 1 to 9, said photovoltaic panel handling robot being mounted on said transfer device.

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